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公开(公告)号：US06647353B2
公开(公告)日：2003-11-11
申请号：US09974805
申请日：2001-10-12
IPC分类号： G06F1500
CPC分类号： G05B19/416
摘要： An acceleration/deceleration method capable of synchronizing two axes in velocity and also in position is disclosed. A follower axis X continues to be accelerated after a velocity Vx of the follower axis X reaches a target velocity Vy of an objective axis Y and the acceleration is changed over to a deceleration to achieve the target velocity Vy. The time for changing over the acceleration to the deceleration is determined so that the motion amount of the position Px of the follower axis X in excess of the motion amount of the position Py of the objective axis Y is equal to the sum of the displaced motion amount in the acceleration motion and an initial positional difference. Thus, the position and velocity of the follower axis X coincide with the position and velocity of the objective axis Y to achieve complete synchronism of the two axes in the case where there is a positional difference and a velocity difference between the two axes.
摘要翻译： 公开了一种能够使速度和位置上的两个轴同步的加速/减速方法。 随动轴X的速度Vx达到目标轴Y的目标速度Vy后，从动轴X继续加速，加速度变化为减速以达到目标速度Vy。 确定将加速度改变为减速度的时间，使得从动轴X的位置Px的移动量超过物镜轴Y的位置Py的运动量等于位移运动的和 加速运动中的量和初始位置差。 因此，在存在位置差和两轴之间的速度差的情况下，从动轴X的位置和速度与物轴Y的位置和速度一致，以实现两轴的完全同步。
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公开(公告)号：US07331208B2
公开(公告)日：2008-02-19
申请号：US11259111
申请日：2005-10-27
IPC分类号： B21J9/18
CPC分类号： G05B19/19 , B21D24/02 , G05B2219/42123 , G05B2219/45131
摘要： A die cushion controller uses position control to position die cushion members for placement of a metal sheet. A pressing process starts and the upper die is lowered. When a position detector detects a position at which the upper die touches the sheet metal, the die cushion controller switches over from position control to pressure control and applies a preset pressure to the sheet metal. When the position detector detects that the upper die has risen to a preset position, the die cushion controller clears the positional deviation accumulated in position control to zero, then moves the die cushion members to preset positions and holds them there.
摘要翻译： 模具缓冲控制器使用位置控制来定位模具缓冲构件以放置金属板。 压制过程开始，上模下降。 当位置检测器检测到上模与金属板接触的位置时，模具缓冲控制器从位置控制切换到压力控制，并且对该金属板施加预设的压力。 当位置检测器检测到上模已经升高到预设位置时，模具缓冲控制器将位置控制中累积的位置偏差清除为零，然后将模具缓冲件移动到预设位置并保持在那里。
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公开(公告)号：US20080024083A1
公开(公告)日：2008-01-31
申请号：US11826972
申请日：2007-07-19
IPC分类号： G05B19/4061
CPC分类号： G05B19/4061 , G05B2219/32342 , G05B2219/33301 , G05B2219/49141 , Y02P90/26
摘要： Disclosed is a numerical controller capable of foreseeing the occurrence of interference during operation of a machine and securely preventing the interference. An advanced position calculating section determines advanced time for the next interference check, based on an end time point of an interference check by an interference checking device and the sum of a time required for the interference check, a time required for communication, a time required for decelerating and stopping a movable part, and a predetermined float. Further, an advanced position of the movable part at the advanced time is calculated based on pre-read program data and is outputted to the interference checking device. The interference checking device performs the interference check at the advanced position. If it detects interference, the interference checking device delivers an axis stop signal to a motion command output section, thereby stopping a motion command and decelerating and stopping the movable part. Since interference check timing is settled in accordance with the time required for the interference check, the occurrence of interference can be securely prevented without delay or advance.
摘要翻译： 公开了一种数字控制器，其能够预见机器操作期间的干扰发生，并可靠地防止干扰。 高级位置计算部分基于干扰检查装置的干扰检查的结束时间点和干扰检查所需的时间之和，通信所需的时间，所需的时间，确定下次干扰检查的高级时间 用于减速和停止可移动部件和预定浮子。 此外，基于预先读取的程序数据计算可动部件在高级时间的高位置，并将其输出到干扰检查装置。 干扰检查装置在高级位置进行干扰检查。 如果检测到干扰，则干扰检查装置向运动指令输出部输出轴停止信号，从而停止运动指令，减速停止可动部。 由于根据干扰检查所需的时间来确定干扰检查定时，所以可以在不延迟或提前的情况下可靠地防止发生干扰。
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公开(公告)号：US20060125438A1
公开(公告)日：2006-06-15
申请号：US11297425
申请日：2005-12-09
IPC分类号： G05B19/33
CPC分类号： G05B19/4142 , G05B2219/42186 , G05B2219/42191
摘要： A synchronous controller capable of gently changing a synchronous multiplying factor and setting the gentleness of changing of the synchronous multiplying factor without shocking a machine. A block for gently changing the synchronous multiplying factor is added between blocks before and after the changing of the synchronous multiplying factor. Synchronous multiplying factors a and b before and after changing of the synchronous multiplying factor designated in the added block, a motion amount p of master axis, a motion amount of a slave axis, and a residual motion amount v of the master axis after the completion of changing the synchronous multiplying factor (or a preliminary motion amount u of the master axis from the start of motion of the block concerned to a position for the start of changing of the synchronous multiplying factor) are read out. A gradient of changing the synchronous multiplying factor and the preliminary motion amount u (or the residual motion amount v) are obtained based on these data. The slave axis is controlled based on the motion amounts u and v and the gradient of changing the synchronous multiplying factor. The synchronous multiplying factor is changed so gently that the machine cannot be shocked. The synchronous multiplying factor gradient can be settled depending on the designated data p, q and v (or u).
摘要翻译： 同步控制器能够轻轻地改变同步倍率，并设定同步倍率的变化的温和度，而不会影响机器。 在改变同步倍率之前和之后，在块之间加上轻轻地改变同步倍率的块。 在添加的块中指定的同步倍增因子改变之前和之后的同步倍增因子a和b，主轴的运动量p，从轴的运动量和完成后的主轴的剩余运动量v 读出将同步倍率（或主轴的初步运动量u从有关块的运动开始的初步运动量u）改变为同步倍率的变化开始的位置。 基于这些数据获得改变同步倍增因子和初步运动量u（或残余运动量v）的梯度。 从轴基于运动量u和v以及改变同步倍率的梯度来控制。 同步倍率因此被轻轻地改变，机器不能被震动。 可以根据指定的数据p，q和v（或u）来确定同步倍增因子梯度。
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公开(公告)号：US20060090533A1
公开(公告)日：2006-05-04
申请号：US11259111
申请日：2005-10-27
IPC分类号： B21D24/08
CPC分类号： G05B19/19 , B21D24/02 , G05B2219/42123 , G05B2219/45131
摘要： A die cushion controller uses position control to position die cushion members for placement of a metal sheet. A pressing process starts and the upper die is lowered. When a position detector detects a position at which the upper die touches the sheet metal, the die cushion controller switches over from position control to pressure control and applies a preset pressure to the sheet metal. When the position detector detects that the upper die has risen to a preset position, the die cushion controller clears the positional deviation accumulated in position control to zero, then moves the die cushion members to preset positions and holds them there.
摘要翻译： 模具缓冲控制器使用位置控制来定位模具缓冲构件以放置金属板。 压制过程开始，上模下降。 当位置检测器检测到上模与金属板接触的位置时，模具缓冲控制器从位置控制切换到压力控制，并且对该金属板施加预设的压力。 当位置检测器检测到上模已经升高到预设位置时，模具缓冲控制器将位置控制中累积的位置偏差清除为零，然后将模具缓冲件移动到预设位置并保持在那里。
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公开(公告)号：US20060169018A1
公开(公告)日：2006-08-03
申请号：US11342967
申请日：2006-01-31
IPC分类号： B21D24/08
CPC分类号： B21D24/02
摘要： Die cushion control device that implements die cushion control while making a switch between position control and pressure control by using servomotors, and reduces the impact caused by a collision between a press axis and a die cushion axis during position control. Die cushion members are controlled by servomotors Md. The changeover switch is connected to the “a”-side, to thereby control the position (velocity) of the servomotors Md by commands from a numerical controller and control the position of the die cushion members. During position control, the output torque of the servomotors Md is limited by torque limit means. During position control, even if the press axis hits the die cushion members due to erroneous setting, wrong operation or the like, the servomotors Md merely output only a limited torque or less, so that impact force is reduced, which prevents damage to the die cushion members and the press axis. During press operation, when a position detector detects that the press axis moves downward to reach a predetermined position, the changeover switch is connected to the “b”-side, to thereby implement pressure control.
摘要翻译： 模具缓冲控制装置，通过使用伺服电动机进行位置控制和压力控制之间的切换，实现模具缓冲控制，并且减少在位置控制期间由冲压轴和模具缓冲轴之间的碰撞引起的冲击。 模具缓冲构件由伺服电机Md控制，转换开关连接到“a”侧，从而通过来自数字控制器的命令来控制伺服电机Md的位置（速度），并控制模具缓冲构件的位置。 在位置控制期间，伺服电动机Md的输出转矩由转矩限制装置限制。 在位置控制期间，即使由于错误的设定，错误的操作等而使按压轴碰到模具缓冲部件，伺服电动机Md只输出有限的转矩或更小的扭矩，从而减小冲击力，从而防止对模具的损坏 缓冲构件和压轴。 在按压操作期间，当位置检测器检测到按压轴向下移动到达预定位置时，转换开关连接到“b”侧，从而实现压力控制。
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公开(公告)号：US20050241843A1
公开(公告)日：2005-11-03
申请号：US11110899
申请日：2005-04-21
IPC分类号： G05B19/18 , G05B19/19 , G05B19/4062 , G05B19/414 , G05D3/00 , B23Q5/00
CPC分类号： G05B19/414 , G05B2219/50216
摘要： An “interval” in which the synchronization status between the movable axes subject to synchronous control is monitored, an equation between the movable axes in the “interval”, and an “allowable displacement” for the positional relationship obtained with this equation and the actual positional relationship are set in advance. The “start condition” and “termination condition” for synchronous status verification processing are set with the master position and the like. When the start condition for synchronous status verification processing is satisfied, it is detected whether or not the actual position and the position obtained with the equation are within the range of the allowable displacement based on the position of the movable axes. If not within the range of the allowable displacement, operation set as “operation to be executed when the allowable displacement is exceeded” is executed.
摘要翻译： 监视进行同步控制的可动轴之间的同步状态的“间隔”，“间隔”中的可动轴之间的等式与用该等式获得的位置关系的“允许位移”和实际位置 关系是事先设定的。 用于同步状态验证处理的“起始条件”和“终止条件”被设定为主位置等。 当满足用于同步状态验证处理的开始条件时，检测根据可移动轴的位置，实际位置和用等式获得的位置是否在允许位移的范围内。 如果不在允许位移的范围内，则执行设定为“超过允许位移时要执行的操作”的操作。
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公开(公告)号：US06909938B2
公开(公告)日：2005-06-21
申请号：US10023944
申请日：2001-12-21
IPC分类号： G05B19/18 , G05B19/416 , G05D3/00 , G06F19/00
CPC分类号： G05B19/416 , G05B2219/43094 , G05B2219/50216
摘要： A method of and apparatus for synchronous control of a leading element and a follower element in which synchronism is started smoothly and a mechanical shock at the start of synchronism is reduced. When the follower element is started to move to be synchronized with the leading element, motion of the follower element is started before the follower element reaches a start position of the synchronism, and brought into synchronism with the leading element at the start position of synchronism. A positional relationship between the leading element and the follower element in synchronism, and a start position for starting the synchronism of the follower element and the leading element is set. An acceleration control of the follower element is performed between a motion start position preceding the start position of the synchronism and the start position of the synchronism. A position control of the follower element is performed based on position data of the leading element and the set positional relationship after the follower element reaches the start position of the synchronism.
摘要翻译： 一种先导元件和从动元件的同步控制的方法和装置，其中同步开始顺利地进行，并且同步开始时的机械冲击减小。 当从动元件开始移动以与前导元件同步时，从动元件的运动在从动元件到达同步的起始位置之前开始，并且在起始位置与前导元件同步。 引导元件和从动元件之间的位置关系被同步，并且用于启动从动元件和引导元件的同步的起始位置。 在同步的开始位置之前的运动开始位置和同步的起始位置之间执行从动元件的加速控制。 从动元件的位置控制是在先导元件的位置数据和从动元件达到同步开始位置之后的设定位置关系的基础上进行的。
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公开(公告)号：US06888334B2
公开(公告)日：2005-05-03
申请号：US10272020
申请日：2002-10-17
CPC分类号： G05B19/19 , G05B2219/42186 , G05B2219/43174 , G05B2219/50216 , G05B2219/50218 , G05B2219/50233 , G05B2219/50234 , Y02P90/265
摘要： A reference variable having a linear relationship with the angular position of a master axis is set, and a correspondence between this reference variable and the displacement of a slave axis is stored in a data table. One execution stage is specified by setting a starting reference variable and an ending reference variable from this data table. A desired sequence is assigned to a plurality of execution stages thus specified. The reference variable corresponding to the angular position of the master axis is determined, slave axis displacement data corresponding to the reference variable is read out, and the slave axis is positioned in accordance with the position of the master axis on the basis of this displacement data.
摘要翻译： 设定与主轴的角度位置呈线性关系的参考变量，将该参考变量与从动轴的位移之间的对应关系存储在数据表中。 通过从该数据表中设置起始参考变量和结束参考变量来指定一个执行阶段。 将所需的顺序分配给如此指定的多个执行阶段。 确定对应于主轴的角位置的参考变量，读出与参考变量相对应的从轴位移数据，并根据该位移数据根据主轴的位置定位从轴 。
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公开(公告)号：US07859214B2
公开(公告)日：2010-12-28
申请号：US11297425
申请日：2005-12-09
IPC分类号： G05B19/18
CPC分类号： G05B19/4142 , G05B2219/42186 , G05B2219/42191
摘要： A synchronous controller capable of gently changing a synchronous multiplying factor and setting the gentleness of changing of the synchronous multiplying factor without shocking a machine. A block for gently changing the synchronous multiplying factor is added between blocks before and after the changing of the synchronous multiplying factor. Synchronous multiplying factors a and b before and after changing of the synchronous multiplying factor designated in the added block, a motion amount p of master axis, a motion amount of a slave axis, and a residual motion amount v of the master axis after the completion of changing the synchronous multiplying factor (or a preliminary motion amount u of the master axis from the start of motion of the block concerned to a position for the start of changing of the synchronous multiplying factor) are read out. A gradient of changing the synchronous multiplying factor and the preliminary motion amount u (or the residual motion amount v) are obtained based on these data. The slave axis is controlled based on the motion amounts u and v and the gradient of changing the synchronous multiplying factor. The synchronous multiplying factor is changed so gently that the machine cannot be shocked. The synchronous multiplying factor gradient can be settled depending on the designated data p, q and v (or u).
摘要翻译： 同步控制器能够轻轻地改变同步倍率，并设定同步倍率的变化的温和度，而不会影响机器。 在改变同步倍率之前和之后，在块之间加上轻轻地改变同步倍率的块。 在添加的块中指定的同步倍增因子改变之前和之后的同步倍增因子a和b，主轴的运动量p，从轴的运动量和完成后的主轴的剩余运动量v 读出将同步倍率（或主轴的初步运动量u从有关块的运动开始的初步运动量u）改变为同步倍率的变化开始的位置。 基于这些数据获得改变同步倍增因子和初步运动量u（或残余运动量v）的梯度。 从轴基于运动量u和v以及改变同步倍率的梯度来控制。 同步倍率因此被轻轻地改变，机器不能被震动。 可以根据指定的数据p，q和v（或u）来确定同步倍增因子梯度。
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